Tab. REF  shows the relative translational and relative rotational errors. IMLS-SLAM [1]} and LOAM [2]} are state-of-the-art LiDAR-based SLAM approaches.
In most sequences, we can see similar performance of SuMa++ compared to the state-of-the-art.
More interestingly, the baseline method SuMa_nomovable diverges, particularly in urban scenes.
